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Phase-SLAM

A Pose Estimator for Dense Reconstruction with the Structured Light Illumination Sensor

This open source is written by MATLAB

Run Mode

  • Open one of the Name_00xU.m or Name_00xR.m by MATLAB, for example David_001U.m (each of them corresponds to a dataset).

  • Run it.

  • No other dependencies are required.

The ground-truth models and reconstruction results are shown in fig:

The (a)-(c) are unreal datasets built in Unreal Engineer 4 simulator, (e)-(f) are real-world datasets collected by structured light sensor with UR5 robotic arm. The bottom row is ground truth, the top row is result.

Related Paper

  • X. Zheng, R. Ma, R. Gao and Q. Hao, "Phase-SLAM: Mobile Structured Light Illumination for Full Body 3D Scanning," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 1617-1624, doi: 10.1109/IROS51168.2021.9636457.

  • X. Zheng, R. Ma, R. Gao and Q. Hao, "Phase-SLAM: Phase Based Simultaneous Localization and Mapping for Mobile Structured Light Illumination Systems," in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6203-6210, July 2022, doi: 10.1109/LRA.2022.3162024.